Bárbara Barros Carlos

PhD student in robotics

Biography

Bárbara Barros Carlos is a PhD student in robotics at Sapienza University of Rome. Her research interests include aerial robotics and real-time nonlinear model predictive control.

Interests

Aerial Robotics
Real-Time Nonlinear Model Predictive Control
Motion Planing and Control

Education

PhD in Robotics, Present

Sapienza University of Rome, Italy
BSc in Mechatronics Engineering, 2017

Federal Institute of Ceará, Brazil

Skills

Programming Languages

C/C++, Python, MATLAB

Building Systems

Catkin, CMake, Make

Development Tools

PyCharm, Vim, Terminal (Linux/MacOS)

Numerical Optimization Tools

CasADi, ACADO, acados

NMPC Solvers

HPIPM, qpOASES, IPOPT

Operating Systems

Linux, MacOS, ROS

Hardware

AVR Family (Atmega32), PIC18 Family, ARM Cortex-A8 Microprocessor

Misc

Git, LaTeX, GenoM3

Experience

Researcher

ITIC

Jan 2015 – Jun 2017 Fortaleza, Brazil

Responsibilities include:

Quadrotor hardware technician.
Development of an autopilot using BeagleBone Black.
Technical project writer.

Undergraduate Research Assistant

LIT/IFCE

Aug 2014 – Aug 2017 Fortaleza, Brazil

Development of a quadrotor prototype.

Educational Robotics Teacher

ITIC

Dec 2013 – Dec 2014 Fortaleza, Brazil

Responsibilities include:

PIC 18FXX5X-based embedded systems development.
Taught logic, programming language, electricity and basic electronics.

Education

Visiting PhD student

RIS Team, LAAS-CNRS, Toulouse, France Oct 2019 – Mar 2020

I was working with embedded NMPC applied to quadrotors and human-quadrotor mixed-initiative control via NMPC. I have also developed an NMPC for a quadrotor-slung payload system for the task of transportation on suspension.

Supervisor: Antonio Franchi

Visiting PhD student

syscop lab, University of Freiburg, Germany May 2019 – Oct 2019

I was working with embedded numerical optimization methods applied to the motion generation of a pendubot and a quadrotor. For the former, I developed a solution for periodic motion generation for orbital stabilization. As for the latter, I developed a solution for real-time motion generation in dynamic environments and a sensitivity-based NMPC.

Supervisor: Moritz Diehl

PhD in Automatica, Bioingegneria e Ricerca Operativa

Sapienza University of Rome, Italy Nov 2017

Thesis title: "Real-Time Nonlinear Model Predictive Control for Motion Generation in Robotic Systems"
Supervisor: Giuseppe Oriolo

BSc in Mechatronics Engineering

Federal Institute of Ceará, Fortaleza, Brazil Jan 2013 – Jul 2017

I was following a five years program where the focus was industrial automation and robotics.

Thesis title: "Modeling, Control and Simulation of a Quadrotor for Attitude Stabilization"
Supervisor: Auzuir Ripardo de Alexandria